CN114872014B - Speech control's joint robot and speech control's joint robot system - Google Patents
Speech control's joint robot and speech control's joint robot system Download PDFInfo
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- CN114872014B CN114872014B CN202210365425.7A CN202210365425A CN114872014B CN 114872014 B CN114872014 B CN 114872014B CN 202210365425 A CN202210365425 A CN 202210365425A CN 114872014 B CN114872014 B CN 114872014B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a voice-controlled articulated robot and a voice-controlled articulated robot system. The voice-controlled joint robot system comprises a control device, an intelligent terminal and a voice-controlled joint robot. The control device is internally provided with a processing module and a signal receiving and transmitting module. The signal receiving and transmitting module is in communication connection with the processing module. The processing module is electrically connected with a driving mechanism of the voice-controlled joint robot. The intelligent terminal comprises a voice control module and a signal transmission module, wherein the voice control module is in communication connection with the signal transmission module, the voice control module is used for recognizing user voice so as to send corresponding signals to the signal transmission module, and the signal transmission module is in communication connection with the signal receiving and transmitting module. Through the mode, the convenience of using of the joint robot can be improved.
Description
Technical Field
The present application relates to the field of robotics, and in particular to voice-controlled articulated robots and voice-controlled articulated robotic systems.
Background
The voice-controlled joint robot is a device which can be worn on a human body and can assist the joint movement by adopting external energy according to the movement posture of the human body or the instruction of a user. The voice-controlled joint robot is suitable for the military field, can enhance the combat capability of individual soldiers, is also suitable for the civil field to assist the human body to bear heavy materials, or is used for assisting patients in walking and rehabilitation training in the medical field. However, the current voice-controlled articulated robot has a complex structure, which results in the technical problem of inconvenient wearing.
Disclosure of Invention
An object of the present application is to provide a voice-controlled articulated robot and a voice-controlled articulated robot system, which can simplify the structure of the voice-controlled articulated robot and facilitate wearing.
In order to solve the technical problems, one technical scheme adopted by the application is as follows:
a voice controlled articulated robot is provided, the voice controlled articulated robot including a first binding, a second binding, a linkage, and a drive mechanism. The first binding is used for binding the first body; the second binding is used for binding the second body. The link mechanism connects the first binding and the second binding. The driving mechanism is connected with the connecting rod mechanism and used for driving the connecting rod mechanism to operate, so that the first binding body and the second binding body relatively rotate to provide assistance for joints between the first body and the second body. The connecting rod mechanism comprises a first fixing piece, a second fixing piece, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the first fixing piece is fixedly connected with the first binding, and the second fixing piece is fixedly connected with the second binding; the first connecting rod is rotationally connected with the first fixing piece, one end of the second connecting rod is rotationally connected with one end of the first connecting rod, the other end of the second connecting rod is rotationally connected with the second fixing piece, one end of the third connecting rod is rotationally connected with the first fixing piece, the other end of the third connecting rod is rotationally connected with the second connecting rod, one end of the fourth connecting rod is connected with the driving mechanism, and the other end of the fourth connecting rod is rotationally connected with one end of the first connecting rod.
The other technical scheme adopted by the application is as follows: there is provided a voice-controlled articulated robot system comprising a control device and a voice-controlled articulated robot as mentioned in the above claims. The control device is internally provided with a processing module and a signal receiving and transmitting module. The signal receiving and transmitting module is in communication connection with the processing module. The processing module is electrically connected with a driving mechanism of the voice-controlled joint robot.
The beneficial effects of this application are: in the condition of prior art, tie up first body and second body respectively through first tie up with the second and tie up for first tie up and second tie up when rotating relatively, can provide helping hand to first body and second body, and then provide helping hand for the joint. The first binding and the second binding are connected through the connecting rod mechanism, so that the first binding and the second binding can move relatively under the action of the connecting rod mechanism. The drive mechanism is capable of providing a power for the linkage mechanism to move the first binding relative to the second binding relative to each other. Under the action of the first fixing piece, the second fixing piece, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod of the connecting rod mechanism, when the first binding and the second binding move relatively, the voice-controlled joint robot can simulate the instantaneous center curve of the joint during the operation, and the human body movement is facilitated. The first binding and the second binding movement are driven by the connecting rod mechanism, so that the structure of the voice-controlled joint robot is simplified, and the convenience of use is improved.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a voice controlled articulating robot of the present application;
FIG. 2 is a partial exploded view of the voice controlled articulating robot of FIG. 1;
FIG. 3 is a side view of the voice-controlled articulating robot of FIG. 1;
FIG. 4 is an exploded view of the linkage of FIG. 3;
FIG. 5 is a schematic view of the linkage mechanism of FIG. 3;
FIG. 6 is a schematic view of the driven mechanism of FIG. 1;
FIG. 7 is a schematic diagram of an embodiment of a voice-controlled articulating robotic system of the present application;
fig. 8 is a schematic diagram of another embodiment of a voice-controlled articulating robotic system of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The inventors of the present application have long studied and found that the present voice-controlled articulated robot 1 has various types, such as passive exoskeleton and active exoskeleton. The passive voice-controlled joint robot 1 power assisting device mainly stores energy when the knee joint is bent through an elastic device such as a coil spring, releases energy when the knee joint stretches, and provides certain power assistance when walking. The passive exoskeleton relies on the human body to provide energy when storing energy, which can hinder human body movement. The active exoskeleton transmits signals to the controller through the leg sensors, the controller processes the sensor signals to judge the motion state of the human body, and then forms control instructions to be transmitted to the knee joint driving unit to control the motion of the knee joint driving unit. This approach may result in a complicated structure of the voice-controlled articulated robot 1, and inconvenience in wearing. In summary, current exoskeletons are less convenient to use. In order to solve the above technical problems, the present application may provide the following embodiments.
Referring to fig. 1, the voice-controlled joint robot 1 of the present application includes a first binding 10, a second binding 20, a link mechanism 30, and a driving mechanism 40. The first binding 10 is used for binding the first torso and the second binding 20 is used for binding the second torso.
Specifically, the first body may be a thigh or a thigh, and the second body may be a calf or a forearm, that is, the joints assisted by the voice-controlled articulated robot 1 of the present application may be knee joints or elbow joints, and the like, and is not particularly limited. The following description will be made with the first trunk being a thigh and the second trunk being a calf. The first binding 10 and the second binding 20 may be bound to the thigh and the calf in various ways. The first binding 10 is described by way of example as being bound to a thigh. The first binding 10 may be passed through the first binding 10, for example by a flexible material, and then the first binding 10 is bound to the thigh. The flexible material may be in the form of a rope, bungee cord, or velcro, etc., and is not particularly limited herein. The first binding 10 may be attached to the thigh by providing a detachable mechanical structure on the first binding 10 to secure the first binding 10 to the first torso.
In other embodiments, it is contemplated that in daily life, the case where a knee joint requires a large assistance and supporting force is generally a process in which the knee joint turns straight or turns straight, such as a standing and sitting motion of a human body. In this case, the rotation direction of the thigh with respect to the knee joint is determined, so that the first binding 10 can be arranged at the rear of the thigh, and the second binding 20 can function as the knee joint assist force by being arranged at the front of the calf, without requiring an additional structure for binding. The mode of the second binding 20 binding the shank is the same as the mode of the first binding 10 binding the thigh, and the description is omitted.
Referring to fig. 1 and 2, a link mechanism 30 connects the first binding 10 and the second binding 20. The driving mechanism 40 is connected with the link mechanism 30 and is used for driving the link mechanism 30 to operate so as to enable the first binding 10 and the second binding 20 to rotate relatively, so as to provide assistance for the joint between the first body and the second body. The first binding 10 and the second binding 20 can be relatively moved along a specific trajectory by the link mechanism 30.
Referring to fig. 3 and 4, the link mechanism 30 includes a first fixing member 31, a second fixing member 32, a first link 301, a second link 302, a third link 303, and a fourth link 304. The first fixing member 31 is fixedly coupled to the first binding 10, and the second fixing member 32 is fixedly coupled to the second binding 20. The first connecting rod 301 is rotatably connected with the first fixing member 31, one end of the second connecting rod 302 is rotatably connected with one end of the first connecting rod 301, the other end of the second connecting rod 302 is connected with the second fixing member 32, one end of the third connecting rod 303 is rotatably connected with the first fixing member 31, the other end of the third connecting rod 303 is rotatably connected with the second connecting rod 302, one end of the fourth connecting rod 304 is connected with the driving mechanism 40, and the other end of the fourth connecting rod 304 is rotatably connected with one end of the first connecting rod 301. The first link 301, the second link 302, the third link 303, and the fourth link 304 constitute a four-bar linkage, and the four-bar linkage is driven to operate by the driving mechanism 40, thereby transmitting a force to the first fixing member 31 and the second fixing member 32. The first and second fixing members 31 and 32 then move the first and second binding 10 and 20.
Specifically, referring to fig. 5, when the link mechanism 30 drives the first binding 10 and the second binding 20 to move, the first binding 10 and the second binding 20 move relatively, thereby assisting the knee joint. The movement process of the voice-controlled articulated robot 1 will be described below using the first fixing member 31 (or the first binding 10) as a reference. The middle part of the first link 301 is rotatably connected to the first fixing member 31 such that the first link 301 becomes a lever. One end of the first link 301 is rotatably connected to the second link 302, so that the first link 301 can drive the second link 302 to move, and the second link 302 can drive the second fixing member 32 and the second binding 20 to move. One end of the third link 303 is rotatably connected to the first fixing member 31, and the other end is rotatably connected to the second link 302. The third connecting rod 303 and the first connecting rod 301 and the second connecting rod 302 cooperate to determine the movement track of the second connecting rod 302, and through the design of the connecting rod parameters, the movement track is matched with the instantaneous center curve of the movement of the lower leg relative to the thigh, so that the resistance of the voice-controlled articulated robot 1 to the normal movement of the knee joint is reduced. One end of the fourth link 304 is rotatably connected to the first link 301, and the other end is connected to the driving mechanism 40. The fourth link 304, together with the first link 301, can convert the linear motion of the driving mechanism 40 into the rotation of the first link 301, and can facilitate the operation of the link mechanism 30. The mode that the first binding 10 and the second binding 20 are driven to move through the connecting rod mechanism 30 can simplify the structure of the voice-controlled joint robot 1, the wearing of the voice-controlled joint robot 1 is facilitated, and the convenience of use is improved.
Further, a connecting portion 3021 is provided at one end of the second link 302 near the first fixing member 31, one end of the connecting portion 3021 is rotatably connected to the first link 301, and the other end is rotatably connected to the third link 303. By designing the distance between the two ends of the connection part 3021 and the inclination degree of the connection line between the two ends of the connection part 3021, the motion track of the second connecting rod 302 can be more similar to the instantaneous center curve of the movement of the lower leg relative to the thigh, and the resistance of the voice-controlled articulated robot 1 to the normal movement of the knee joint can be further reduced.
Referring to fig. 4 and 5, in an embodiment, a sliding groove 321 is disposed on the second fixing member 32, a sliding block 3022 is disposed on a side of the second connecting rod 302 near the second fixing member 32, and the sliding block 3022 is slidably disposed in the sliding groove 321 to connect the second connecting rod 302 with the second fixing member 32. In addition, when the voice-controlled articulated robot 1 is in use, on the one hand, the positions of the thigh and the calf are not completely identical with each other by wearing the first binding 10 and the second binding 20 each time. On the other hand, the voice-controlled articulated robot 1 is inevitably loose when worn, and the position where the voice-controlled articulated robot 1 is worn is shifted. Therefore, the voice-controlled joint robot 1 is dislocated, so that the motion trail of the voice-controlled joint robot 1 is deviated, and a certain resistance is generated to the normal motion of a human body. The second connecting rod 302 is slidably connected with the second fixing member 32 by arranging a sliding block 3022 at one end of the second connecting rod 302 close to the second binding 20 and arranging a sliding groove 321 on the second fixing member 32. Therefore, the offset of the voice-controlled joint robot 1 caused by the reasons can be offset in a sliding manner, so that the convenience in use of the voice-controlled joint robot 1 is further improved, and the user experience is improved. Alternatively, referring to FIG. 4, the second link 302 may be manufactured in a split type. The second link 302 is divided into two parts, one of which is provided with a connecting portion 3021 and the other of which is provided with a slider 3022. This can facilitate the manufacture of the second link 302.
Referring to fig. 3 and 4, the driving mechanism 40 includes a motor 41, a gear 42, a rack 43, and a slide rail 44, based on the above embodiment. The slide rail 44 is mounted on the first fixing member 31, the rack 43 is slidably mounted on the slide rail 44, and the gear 42 is connected to the driving shaft of the driving device and meshed with the rack 43. One end of the rack 43 is rotatably connected to the fourth link 304. The motor 41 shaft of the motor 41 is rotated, and the gear 42 is engaged with the rack 43, so that the rotation of the motor 41 can be converted into linear movement of the rack 43 along the slide rail 44. Alternatively, the power source of the drive mechanism 40 may also employ an air cylinder.
The first fixing member 31 includes a bottom plate and two side plates, the two side plates are respectively mounted on the bottom plate, the two side plates and the bottom plate enclose a mounting space, the slide rail 44 and the rack 43 are disposed in the mounting space, and the slide rail 44 is mounted on the bottom plate. By providing the installation space in the first fixing member 31, the gear 42 and the rack 43 are protected by the two side plates and the bottom plate of the first fixing member 31, so that the transmission of the gear 42 engaging the rack 43 can be performed in the installation space, and the influence of the foreign matter on the transmission of the gear 42 engaging the rack 43 can be reduced.
In other embodiments, the number or thickness of the first, second, third, and fourth links 301, 302, 303, and 304 may be increased in order to increase the strength of the link mechanism 30 as a whole. For example, referring to fig. 4, the thickness of the first link 301 is thicker, and in order to simultaneously secure the strength of the first link 301 and smooth rotation of the first link 301 in the first fixing member 31, the thickness of the first link 301 may be set according to the distance between the two side plates of the first fixing member 31. The second link 302 may have a thickness that is increased in order to increase the strength without interfering with the operation of the link mechanism 30. Alternatively, the number of the connection portions 3021 of the second link 302 may be two, and on the one hand, the connection portions 3021 may be two to better connect with the first link 301. On the other hand, the number of the third links 303 may be set to two, and the two third links 303 are rotatably connected to the two connection portions 3021, respectively, to thereby increase the strength of the third links 303. The fourth link 304 moves in the installation space of the first fixing member 31 in a similar manner to the first link 301 in terms of strength, and will not be described again.
Referring to fig. 4, the first binding 10 includes a main body and mounting portions 11 provided at both sides of the main body, and the first fixing member 31 is mounted at the mounting portion 11 at one side thereof. The body is curved to accommodate the shape of the body. Alternatively, the mounting portion 11 is provided with a plurality of mounting holes along its length direction. The first fixing member 31 is provided with a perforation at one side thereof adjacent to the first binding 10. Wherein the first fixing member 31 may be fixed to the first binding 10 by passing a bolt or a screw or the like through the penetration hole and the mounting hole. The first fixing member 31 may be moved along the length direction of the mounting portion 11 so that the penetrating holes correspond to the differently mounted holes, thereby adjusting the relative positions of the first binding 10 and the first fixing member 31, thereby increasing the wildness of the first binding 10. The connection between the second fixing member 32 and the second binding 20 may be the same as that described above, and will not be repeated.
Further, the body is provided with through grooves 12 on both sides for the flexible material to pass through. The flexible material may be any one of rope, elastic rope or magic tape. The second binding 20 is the same. The first binding 10 and the second binding 20 can be positioned at the same side of the link mechanism 30 by means of the flexible material to fix the first binding 10 and the second binding 20 to the human body. Thus, the voice-controlled joint robot 1 can be conveniently worn on a human body, and the convenience of using the voice-controlled joint robot 1 is improved. The body may also be provided with through slots 13 to facilitate deformation of the body, thereby enabling the first binding 10 to accommodate different first bodies, increasing the universal fit of the voice controlled articulated robot 1.
Referring to fig. 1 and 6, the voice-controlled articulated robot 1 is further provided with a driven mechanism 50, and the driven mechanism 50 is provided at one side of the first binding 10 and the second binding 20 away from the link mechanism 30. The driven mechanism 50 is disposed opposite to the link mechanism 30, and the driven mechanism 50 connects the first binding 10 and the second binding 20. The driven mechanism 50 functions to stably connect the first binding 10 with the second binding 20. The driven mechanism 50 can follow the movement of the link mechanism 30, so that the relative movement track of the first binding 10 and the second binding 20 is regular, and the assistance is better provided for the joint. The follower mechanism 50 includes a fixed member 53, a first follower lever 51, a second follower lever 52, and a third follower lever. The positions, movement tracks and connection modes of the first driven rod 51, the second driven rod 52 and the third driven rod are similar to those of the first connecting rod 301, the second connecting rod 302 and the third connecting rod 303, so that the movement of the driven mechanism 50 is symmetrical to the movement of the connecting rod mechanism 30, and the first binding 10 and the second binding 20 can provide assistance for the joints. The driven mechanism 50 further includes two fixing members 53 fixedly connected to the first binding 10 and the second binding 20, respectively, and similar to the structures of the first fixing member 31 and the second fixing member 32, and will not be described again.
The inventor also found that the current voice-controlled articulated robot system 2 performs man-machine interaction in a public voice broadcasting manner, has poor privacy and is inconvenient to carry. And the user cannot intuitively obtain the stress or displacement of the voice-controlled articulated robot 1. In order to solve the above technical problems, the present application may provide the following embodiments.
The application proposes a voice-controlled articulated robot system 2 comprising a control device and a voice-controlled articulated robot 1. The specific structure of the voice-controlled articulated robot 1 is described with reference to the above embodiment, and will not be described in detail. The control device is internally provided with a processing module 102 and a signal receiving and transmitting module 101; the signal receiving and transmitting module 101 is in communication connection with the processing module 102; the processing module 102 is electrically connected to the driving mechanism 40 of the voice-controlled articulated robot 1.
Specifically, the signal transceiver module 101 may communicate with the outside, for example, a bluetooth headset, or the smart terminal 201. The processing module 102 may acquire and process the information of the voice-controlled articulated robot 1, for example, the operation information of the driving mechanism 40 of the voice-controlled articulated robot 1, and send the information to the signal transceiver module 101. The processing module 102 may receive the information received by the signal transceiver module 101, process the information, and send the processed information to the driving mechanism 40 of the voice-controlled articulated robot 1, thereby achieving the purpose of controlling the driving mechanism 40. The control device may be a control box provided on the voice-controlled articulated robot 1, or may be a wearable device worn on a human body, and is not particularly limited.
Referring to fig. 7, the voice-controlled articulated robot system 2 further includes an intelligent terminal 201, where the intelligent terminal 201 includes a voice control module 202 and a signal transmission module 203, the voice control module 202 is communicatively connected to the signal transmission module 203, the voice control module 202 is configured to recognize a voice of a user to send a corresponding signal to the signal transmission module 203, and the signal transmission module 203 is communicatively connected to the signal transceiver module 101. The smart terminal 201 may be a mobile phone, a bracelet, a smart watch, or the like. The voice control module 202 can recognize the voice of the user, analyze, process and match the voice of the user, and then send a corresponding instruction to the signal transmission module 203. The signal transmission module 203 transmits an instruction to the signal transceiver module 101, thereby controlling the voice-controlled articulated robot 1. At present, the intelligent terminal 201 is widely used, so that voice recognition is performed through the intelligent terminal 201, the instruction issuing mode is easy to accept, and the privacy is high. The voice control module 202 may employ semantic recognition to further increase privacy of use of the voice-controlled articulated robot system 2. For example, when the user issues a voice command "standing" or "starting" or the like, a command for controlling the voice-controlled articulated robot 1 to provide assistance is issued to assist standing.
Referring to fig. 8, in one embodiment, the voice control module 202 includes an audio conversion unit, a voice input unit and a voice output unit, wherein the voice input unit is communicatively connected to the audio conversion unit, and the voice output unit is communicatively connected to the audio conversion unit. Specifically, the voice input unit is used for collecting user voices. The voice input unit may be various forms of microphones, such as a microphone of a mobile phone, a microphone on an earphone, etc. The voice input unit can collect user voice and transmit the voice to the audio conversion unit, and the audio signal can be converted into a signal which can be read by other equipment. The audio conversion unit is capable of receiving information from other devices so as to convert it into an audio signal to be output from the voice output unit, and the output sound is capable of being listened to by a user. Other devices may be devices such as the voice-controlled articulated robot 1 or a server cloud, and are not specifically limited.
The voice control module 202 further includes a voice recognition unit and a voice feature storage unit, the voice recognition unit being communicatively coupled to the voice input unit, the voice feature storage unit, and the audio conversion unit, respectively. The voice recognition unit is used for recognizing the input voice and matching the voice characteristics in the voice characteristic storage unit, and sending corresponding signals to the audio conversion unit. Specifically, the voice feature storage unit stores information such as voiceprints of the user, and the voice recognition unit is capable of receiving the voice input by the voice input unit, that is, the voice of the user. The speech recognition unit can then access the information stored in the speech feature storage unit. The voice recognition unit matches the input voice with the characteristic voice, thereby recognizing the voice information of the user. And if the identification is successful, allowing the audio conversion unit to perform audio conversion. By providing the voice recognition module, the voice-controlled articulated robot system 2 can recognize only the voice of the user, and the interference of the voice of another person on the voice-controlled articulated robot system 2 can be reduced. The voice recognition unit is in communication connection with the audio conversion unit, so that the result recognized by the voice recognition unit can be transmitted to other devices through the audio conversion unit.
In other embodiments, the voice input unit and the voice output unit are provided on the smart terminal 201. The voice recognition unit, the voice feature storage unit and the audio conversion unit can be arranged on the cloud end of the server, and the intelligent terminal 201 can be in communication connection with the cloud end of the server, so that the voice recognition is matched, the signal conversion process is carried out in the cloud end of the server, and the performance requirement on the intelligent terminal 201 can be reduced.
The voice-controlled joint robot system 2 further comprises an instruction analysis matching module, wherein the instruction analysis matching module comprises an instruction analysis unit, an instruction matching unit and an instruction storage unit; the instruction analysis unit is in communication connection with the audio conversion unit, the instruction analysis unit is in communication connection with the instruction matching unit, and the instruction matching unit is in communication connection with the instruction storage unit; the instruction matching unit is in communication connection with the signal transmission module. The instruction parsing and matching module may be disposed on the intelligent terminal 201 or on the server cloud end, which is not limited specifically. The instruction parsing unit can parse out corresponding instructions according to the result identified by the voice control module 202. For example, when the user makes a voice of "standing, standing" or the like, the instruction parsing unit parses it into an instruction to start the assistance. When the user issues a "speed up" or "speed down" and the like, the instruction parsing unit parses it into instructions to increase or decrease the assist force. The instruction storage means stores control information of how the various kinds of preset voice-controlled articulated robot 1 performs various actions, for example, turning on the motor 41, forward rotation of the motor 41, reverse rotation of the motor 41, and the like, and each control information has an instruction corresponding thereto. The instruction matching unit matches the instruction analyzed by the instruction analyzing unit with the control information in the instruction storage unit, and then sends a matching result to the voice-controlled joint robot 1 to control the voice-controlled joint robot 1 to perform corresponding actions. For example, the user issues an instruction to "stand", and the instruction parsing unit parses the user's voice into an instruction to start power assistance. The command matching unit matches the command to start the assistance with the control information to start the assistance in the command storage unit, and then transmits the control information to the voice-controlled articulated robot 1. The voice-controlled articulated robot 1 controls the operation of the driving mechanism based on the control information.
In an embodiment, the voice-controlled articulated robot system 2 further comprises a measurement unit 103, the measurement unit 103 being connected to the processing module 102. The measurement unit 103 is used for detecting at least one of the moment, the rotation angle, the height and the gravity parameter of the voice-controlled articulated robot 1. The measurement unit 103 may be a displacement sensor, a torque sensor, an angle sensor, or the like. The sensor may be mounted on the motor 41 of the voice-controlled articulated robot 1, or on a link or a revolute pair of the link mechanism 30, without being particularly limited. The measuring unit 103 may be an infrared range finder or the like for measuring a distance between components or a distance from the ground. By setting the measuring unit 103, the parameters of the operation of the voice-controlled articulated robot 1 can be obtained and transmitted to the intelligent terminal 201 through the signal transceiver. The intelligent terminal 201 can analyze and process parameters of the voice-controlled articulated robot 1 to present the operation condition to the user. And, by setting the measuring unit 103, it is also possible to detect whether the human body has a tilting tendency by analyzing the voice-controlled joint robot 1 parameters. When the human body has a tilting trend, the exoskeleton is locked, so that the human body is prevented from falling down, and the joints are prevented from being impacted.
Further, the intelligent terminal 201 further includes a visualization module, the visualization module includes a visualization unit and a data processing unit, the data processing unit is in communication connection with the audio conversion unit, and the data processing unit is also in communication connection with the signal transmission module. Specifically, the measurement unit 103 can detect a parameter of the voice-controlled articulated robot 1, which can be transmitted to the signal transmission module through the signal transceiver module, and the signal transmission module can transmit the parameter to the data processing unit. The data processing unit is capable of processing the parameters, generating a visualized chart or animation, etc., and transmitting it to the visualization unit. The user can read the chart or animation from the visualization unit, so that the user can know the running condition of the voice-controlled articulated robot 1, and the purpose of visualization is achieved. The data processing unit can also generate corresponding prompt information after processing the parameters. The hint information can be transmitted to the audio conversion unit. The audio conversion unit converts the prompt information and then transmits the converted prompt information to the voice output unit, so that the prompt information is converted into prompt voice which can be listened by a user. For example, when the data processing unit analyzes that the operation state of the voice-controlled articulated robot 1 is abnormal based on the parameters, alarm information may be generated, and after being converted by the audio converting unit, the alarm information outputs alarm voice from the voice output unit.
The foregoing is only examples of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the contents of the present application or other related technical fields are included in the scope of the patent application.
Claims (14)
1. A voice-controlled articulated robot comprising:
a first tie for tying the first torso;
a second binding for binding a second torso;
the connecting rod mechanism is connected with the first binding and the second binding;
the driving mechanism is connected with the connecting rod mechanism and is used for driving the connecting rod mechanism to operate, so that the first binding and the second binding relatively rotate to provide assistance for joints between the first body and the second body;
the connecting rod mechanism comprises a first fixing piece, a second fixing piece, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the first fixing piece is fixedly connected with the first binding, and the second fixing piece is fixedly connected with the second binding; the first connecting rod is rotationally connected with the first fixing piece, one end of the second connecting rod is rotationally connected with one end of the first connecting rod, the other end of the second connecting rod is rotationally connected with the second fixing piece, one end of the third connecting rod is rotationally connected with the first fixing piece, the other end of the third connecting rod is rotationally connected with the second connecting rod, one end of the fourth connecting rod is connected with the driving mechanism, and the other end of the fourth connecting rod is rotationally connected with one end of the first connecting rod.
2. The voice-controlled articulated robot of claim 1 wherein:
the second connecting rod is close to one end of first mounting is provided with connecting portion, connecting portion's one end with first connecting rod rotates to be connected, the other end with the third connecting rod rotates to be connected.
3. The voice-controlled articulated robot of claim 1 wherein:
the second fixing piece is provided with a sliding groove, one side, close to the second fixing piece, of the second connecting rod is provided with a sliding block, and the sliding block is arranged in the sliding groove in a sliding mode so that the second connecting rod is connected with the second fixing piece.
4. The voice-controlled articulated robot of claim 1 wherein:
the driving mechanism comprises a motor, a gear, a rack and a sliding rail, wherein the sliding rail is installed on the first fixing piece, the rack is slidably installed on the sliding rail, the gear is connected with a driving shaft of the motor and meshed with the rack, and one end of the rack is rotatably connected with the fourth connecting rod.
5. The voice-controlled articulated robot of claim 4 wherein:
the first fixing piece comprises a bottom plate and two side plates, the two side plates are respectively installed on the bottom plate, an installation space is enclosed by the two side plates and the bottom plate, the sliding rail and the rack are arranged in the installation space, and the sliding rail is installed on the bottom plate.
6. The voice-controlled articulated robot of claim 1 wherein:
the first binding comprises a main body and mounting parts arranged on two sides of the main body, the first fixing piece is mounted on the mounting parts on one side of the main body, through grooves are formed in two sides of the main body for the flexible material to pass through, and through grooves are formed in the main body so that the main body is easy to deform.
7. The voice-controlled articulated robot of claim 1 wherein:
the voice-controlled joint robot is further provided with a driven mechanism, the driven mechanism and the connecting rod mechanism are oppositely arranged, and the driven mechanism is connected with the first binding and the second binding.
8. A voice-controlled articulated robot system comprising a control device and the voice-controlled articulated robot of any one of claims 1 to 7;
the control device is internally provided with a processing module and a signal receiving and transmitting module; the signal receiving and transmitting module is in communication connection with the processing module; the processing module is electrically connected with a driving mechanism of the voice-controlled joint robot.
9. The voice-controlled articulated robot system of claim 8, wherein:
the voice control joint robot system further comprises an intelligent terminal, the intelligent terminal comprises a voice control module and a signal transmission module, the voice control module is in communication connection with the signal transmission module, the voice control module is used for recognizing user voice so as to send corresponding signals to the signal transmission module, and the signal transmission module is in communication connection with the signal receiving and transmitting module.
10. The voice-controlled articulated robot system of claim 9, wherein:
the voice control module comprises an audio conversion unit, a voice input unit and a voice output unit, wherein the voice input unit is in communication connection with the audio conversion unit, and the voice output unit is in communication connection with the audio conversion unit.
11. The voice-controlled articulated robot system of claim 10, wherein:
the voice control module further comprises a voice recognition unit and a voice feature storage unit, wherein the voice recognition unit is respectively in communication connection with the voice input unit, the voice feature storage unit and the audio conversion unit, and the voice recognition unit is used for recognizing input voice and matching with voice features in the voice feature storage unit and sending corresponding signals to the audio conversion unit.
12. The voice-controlled articulated robot system of claim 11, wherein:
the voice-controlled joint robot system further comprises an instruction analysis matching module, wherein the instruction analysis matching module comprises an instruction analysis unit, an instruction matching unit and an instruction storage unit; the instruction analysis unit is in communication connection with the audio conversion unit, the instruction analysis unit is in communication connection with the instruction matching unit, and the instruction matching unit is in communication connection with the instruction storage unit; the instruction matching unit is in communication connection with the signal transmission module.
13. The voice-controlled articulated robot system of claim 12, wherein:
the voice-controlled joint robot system further comprises a measuring unit, wherein the measuring unit is connected with the processing module; the measuring unit is used for detecting at least one of moment, rotation angle, height and gravity parameters of the voice-controlled joint robot.
14. The voice-controlled articulated robot system of claim 13, wherein:
the intelligent terminal further comprises a visualization module, the visualization module comprises a visualization unit and a data processing unit, the data processing unit is in communication connection with the audio conversion unit, and the data processing unit is also in communication connection with the signal transmission module.
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